CN101923350B - The method of the movement of robot cleaner and this robot cleaner of control - Google Patents
The method of the movement of robot cleaner and this robot cleaner of control Download PDFInfo
- Publication number
- CN101923350B CN101923350B CN201010202445.XA CN201010202445A CN101923350B CN 101923350 B CN101923350 B CN 101923350B CN 201010202445 A CN201010202445 A CN 201010202445A CN 101923350 B CN101923350 B CN 101923350B
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- CN
- China
- Prior art keywords
- robot cleaner
- driving wheel
- sense
- brush unit
- rotation
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/02—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses a kind of method with the robot cleaner improving travelling performance and the movement controlling described robot cleaner.Robot cleaner allows the brush unit of the dust on the driving wheel of robot cleaner movement and cleaning floor is rotated in a same direction.
Description
Technical field
Embodiment relates to a kind of robot cleaner with the travelling performance of improvement, and a kind of method controlling the movement of this robot cleaner.
Embodiment
Below describe embodiment in detail, the example of described embodiment is illustrated in the accompanying drawings, and wherein identical Reference numeral represents identical element in whole accompanying drawing.
Fig. 1 is according to the top perspective of the robot cleaner of an embodiment, Fig. 2 is the bottom perspective view of the robot cleaner according to embodiment, Fig. 3 is the backplan of the robot cleaner according to embodiment, and Fig. 4 is the skeleton view of the brush unit according to embodiment.
As shown in figs. 1-4, the robot cleaner 1 according to the present embodiment comprises: main body 10, and described main body forms the outward appearance of robot cleaner 1; Drive unit 20, the bottom that described drive unit is arranged on main body 10 is moved to make robot cleaner 1; With brush arrangement 30 and 40, the dust of described brush arrangement on the floor of cleaning or dispersing robot cleaner 1 movement is above with clean floor.
In addition, feeler can be arranged in main body 10 together with 40 with brush arrangement 30 with drive unit 20 with proximity sensor.Such as, be arranged on impact damper 11 on the front portion of main body 10 for sensing the barrier of such as wall, and the infrared sensor (or ultrasonic sensor) be arranged on the bottom of main body 10 is for sensing the barrier of such as stair.Main body 10 can also comprise for notifying the state of user and robot cleaner 1 or operating the display device 12 of relevant data.
Drive unit 20 comprises pair of driving wheels 21 and 22 and castor 23, described pair of driving wheels is arranged on the both sides of the central part of main body 10 to regulate the movement of robot cleaner 1, described castor is arranged on the front portion of main body 10, and the anglec of rotation of castor 23 is changed according to the state on the floor of robot cleaner 1 movement above.Therefore castor 23 for the posture of stable robot cleaner 1 or for preventing robot cleaner 1 from falling, and supports robot cleaner 1.Castor 23 is wheels of roller or Caster form.
Therefore two driving wheels 21 and 22 according to the instruction of the control module be illustrated being rotated in a forward or rearward direction respectively subsequently, and make robot cleaner 1 move forward or backward or robot cleaner 1 are rotated.Such as, robot cleaner 1 moves forward or backward by making driving wheel 21 and 22 rotate in the forward or backward direction.In addition, when viewed from front portion, to rotate up forwards by making right driving wheel 22 makes left driving wheel 21 rearward rotate up simultaneously, robot cleaner 1 rotates in a left direction, and when viewed from front portion, by making driving wheel 21 and 22 rotate in the opposite direction respectively, the side of robot cleaner 1 to the right rotates up.
Brush arrangement 30 and 40 comprises main brush arrangement 30 and side brush arrangement 40, described main brush arrangement is disposed adjacent to the inlet hole 14 that formed in the lower surface through main body 10 and for cleaning and disperse the dust on floor, to improve dust collection efficiency, described side brush arrangement is arranged on the front part sides of the lower surface of main body 10 with the dust on the floor towards the movement above of inlet hole 14 sweeping robot clearer 1.
Main brush arrangement 30 comprises brush unit 31 and brush motor 32, described brush unit is formed as drum shape, there is the length corresponding with the length of inlet hole 14, and be horizontally set into and be adjacent to inlet hole 14 and rotate against floor with the form of roller, thus cleaning or disperse the dust be gathered on floor, described brush motor make brush unit 31 forward or after rotate up to the side of movement.
In addition, brush unit 31 can comprise roller 33 and brush 34.Roller 33 is made up of rigid body, be rotatably connected to main body 10 and driven by brush motor 32.End cap 33a is arranged on each place in two sides of roller 33, and prevents impurity from moving to brush motor 32.Brush 34 is made up of resilient material, and is embedded in roller 33.Brush 34 is driven during the movement of robot cleaner 1 together with roller 33, and stirs the impurity of the such as dust be gathered on floor.
Brush unit 31 can also comprise the baffle plate 35 be made up of resilient material.Multiple baffle plate is installed along the longitudinal direction of roller 33, and is spaced apart with appointed interval each other.The diameter of the roller 33 that baffle plate 35 is wound above for increasing the impurity of such as hair, and minimize the friction force of impurity and roller 33.Baffle plate 35 prevents impurity to be directly wrapped on roller 33 and allows impurity to be wrapped on baffle plate 35, thus minimizes the friction force of impurity and roller 33 and reduce to remove energy needed for impurity from roller 33.
Side brush arrangement 40 is arranged on the both sides of the front portion of the bottom of main body 10 respectively with appointed interval, and each in side brush arrangement 40 comprises side brush 41, described side brush rotates relative to floor level to clean the dust be gathered on the floor of robot cleaner 1 movement above towards inlet hole 14.
The particle collector of the impurity sucked also is stored according to the robot cleaner 1 of the present embodiment impurity also comprised for using suction force to suck such as dust.
Fig. 5 is the controll block figure of the robot cleaner 1 according to embodiment.Robot cleaner 1 also comprises: sensor unit 100, and described sensor unit is for the relevant various data in the floor that senses the movement above with robot cleaner 1 and robot cleaner 1; Control module 110, described control module be used for according to the sense of rotation (forward and backward directions) of the data that sensed by sensing cell 100 and driving wheel 21 and 22 about the sense of rotation of pilot brush subelement 31 and speed; With drive motor 120, described drive motor for according to the driving instruction of control module 110 respectively forward or after on the direction of movement, drive driving wheel 21 and 22.
Sensor unit 100 comprises: driving sensor 102, and described driving sensor is for sensing the movement of driving wheel 21 and 22; Floor surface sensor 104, described floor surface sensor is for sensing the state on the floor of robot cleaner 1 movement above; With load transducer 106, described load transducer is applied to the load of drive motor 120 for sensing.
Driving sensor 102 senses the sense of rotation of such as each driving wheel 21 and 22 relevant with driving wheel 21 and 22 and rotational speed and passes to all data of moment of torsion of each driving wheel 21 and 22.
The floor that floor surface sensor 104 senses robot cleaner 1 movement is above the hard floor on such as timber floor or oilpaper floor or has the soft floor being such as provided with the floor of carpet of high moving resistance, and sends the data sensed to control module 110.
Load transducer 106 sensing is applied to the load (moment of torsion or current value) of drive motor 120, and sends the load sensed to control module 110.
Operating process and the effect of the method for the movement controlling above-mentioned robot cleaner are below described.
Fig. 6 is the process flow diagram of display and control according to the method for the movement of the robot cleaner of embodiment, Fig. 7 is the explanatory view of display sense of rotation of driving wheel and brush unit when moving forward according to the robot cleaner of embodiment, and Fig. 8 is the explanatory view of display sense of rotation of driving wheel and brush unit when moving backward according to the robot cleaner of embodiment.
In figure 6, when robot cleaner 1 is by operation, control module 110 judges whether to start to carry out cleaning (operation 200).When control module 110 judges to start clean, driving instruction is sent to the drive motor 120 that is arranged on driving wheel 21 and 22 place respectively and rotates to make driving wheel 21 and 22 direction (normal direction or contrary direction) is upper forward or backward by control module 110, thus allows robot cleaner 1 to move forward or backward while movement on floor or rotate (operating 202).
During the movement of robot cleaner 1, control module 110 makes brush unit 31 rotate to perform clean operation.Here, in order to perform moving forward or backward of robot cleaner 1 more reposefully according to the rotation of brush unit 31, driving sensor 102 detects the sense of rotation of driving wheel 21 and 22, and the sense of rotation of the driving wheel 21 and 22 detected is sent to control module 110 (operation 204).
Afterwards, control module 110 determines the sense of rotation (operation 206) of brush unit 31 according to the sense of rotation (forward or backward direction) of the driving wheel 21 and 22 detected by driving sensor 102.
Such as, when driving wheel 21 and 22 is when the upper rotation of forward direction (normal direction) is to make robot cleaner 1 move forward, control module 110 determines that the sense of rotation of brush unit 31 is the directions moved forward steadily performing robot cleaner, that is, forward direction (normal direction).When driving wheel 21 and 22 rotates to make robot cleaner move backward in a rearward direction, control module 110 determines that the sense of rotation of brush unit 31 is the directions of the movement backward performing robot cleaner reposefully, that is, backward directions (reverse direction).Afterwards, control module sends driving instruction to brush motor 32.
Therefore, when driving wheel 21 and 22 rotates in the forward direction (normal direction) of robot cleaner 1, brush motor 32 receives the driving instruction from control module 110 and above rotates in forward direction (normal direction) in the mode identical with 22 with driving wheel 21, as shown in Figure 7.When driving wheel 21 and 22 rotates in the backward directions (contrary direction) of robot cleaner 1, brush motor 32 receives the driving instruction from control module 110 and is rearward rotating up in the mode identical with 22 with driving wheel 21, as shown in Figure 8.By this, robot cleaner 1 performs clean operation with from floor gettering matter (operation 208).
As mentioned above, when the sense of rotation of driving wheel 21 and 22 is changed to normal direction or contrary direction to perform the moving forward or backward of robot cleaner 1, brush unit 31 also receives the driving instruction from control module 110, and in the roughly simultaneous mode of the change of the sense of rotation with driving wheel 21 and 22, its sense of rotation is changed over normal direction or contrary direction, thus robot cleaner 1 is performed reposefully move forward or backward.Particularly, the travelling performance of robot cleaner 1 on the floor of such as carpet with high-drag can be improved.
Afterwards, control module 110 determines clean whether completing (operation 210), and when control module 110 judge to clean do not complete time, process turns back to operation 204, then repeats operation subsequently.
As the result that operation 210 is determined, when judging to have cleaned, control module 110 stops the driving of drive motor 120 and brush motor 32, and therefore stops clean operation (operation 212).
Fig. 5 indicative control unit 110 sends driving instruction to drive motor 120 and brush motor simultaneously, and therefore changes the sense of rotation of driving wheel 21 and 22 and the sense of rotation of brush unit 31 roughly simultaneously.But, below illustrate that wherein control module 110 only sends driving instruction to drive motor 120, and the situation that the sense of rotation therefore changing driving wheel 21 and 22 makes driving wheel 21 and 22 and brush unit 31 rotate in the opposite direction.Because the sense of rotation of brush unit 31 on the hard floor on such as timber floor or oilpaper floor is unimportant, therefore, according to the sense of rotation of driving wheel 21 and 22, the change of the sense of rotation of brush unit 31 only on the floor of such as carpet with high moving resistance is illustrated following.Here, the data sensed by sensing cell 110 can be used to change the sense of rotation of brush unit 31.
In one example, the situation using driving sensor 102 is described.When robot cleaner 1 backward movement driving wheel 21 and 22 and brush unit 31 are rotated in the opposite direction, when then running into the floor or barrier with high moving resistance, although from the driving instruction of control module 110, driving wheel 21 and 22 may non rotating due to moving resistance.In this case, driving sensor 102 senses the movement of driving wheel 21 and 22, and when driving sensor 102 really sense do not move time, driving sensor 102 sends the result sensed to control module 110.Then, control module 110 sends driving instruction to brush motor 32, and is therefore controlled to by brush unit 31 and rotates up in the side identical with the sense of rotation of drive motor 120.
In another example, the situation using floor surface sensor 104 is below described.When robot cleaner 1 backward movement driving wheel 21 and 22 and brush unit 31 are rotated in the opposite direction, when then running into the floor with high moving resistance, floor surface sensor 104 senses floor and has high moving resistance, and sends the result sensed to control module 110.Then, control module 110 sends driving instruction to brush motor 32, and is therefore controlled to by brush unit 31 and rotates up in the side identical with the sense of rotation of drive motor 120.
In another example, the situation of working load sensor 106 is below described.When robot cleaner 1 backward movement driving wheel 21 and 22 and brush unit 31 are rotated in the opposite direction, when then running into the floor with high moving resistance, relatively large load applying is to drive motor 102.When load is greater than specified reference value, load transducer 106 senses described load and is greater than specified reference value, and sends the result sensed to control module 110.Then, control module 110 sends driving instruction to brush motor 32, and is therefore controlled to by brush unit 31 and rotates up in the side identical with the sense of rotation of drive motor 120.
In addition, when the sense of rotation of brush unit 31 starts to change, relatively large moment of torsion is passed to brush motor 32 in the starting stage by control module 110, and when realizing the change of sense of rotation of brush unit 31, relatively little moment of torsion is passed to brush motor 32 by control module 110.By this, during the movement backward of robot cleaner 1, the rotating speed of brush motor 32 increased in the starting stage, thus opposing moving resistance, then when the movement backward of robot cleaner 1 starts to realize, described rotating speed is reduced, thus shows effect that is energy-conservation and reduction noise.
As seen from the above description, allow the brush unit of the dust on the driving wheel of robot cleaner movement and cleaning floor is rotated in a same direction according to the robot cleaner of an embodiment, even if therefore also can move reposefully forward and backward on the floor of such as carpet with high moving resistance, thus there is the travelling performance of raising.
Although shown and described several embodiment; but what those skilled in the art will be familiar with is can make described embodiment when not deviating from principle and the spirit of these embodiments to change, and the protection domain of described embodiment is defined in claim and equivalent thereof.
Background technology
Usually, robot cleaner be a kind of impurity inhaling such as dust when not needing user to handle from floor simultaneously in region that will be cleaned on described floor automatic moving therefore perform the equipment of clean operation.
In this robot cleaner, pair of driving wheels is arranged on the both sides of the bottom of main body, and makes main body move forward or backward or rotate.Robot cleaner easily moves forward or backward on the hard floor on such as timber floor or oilpaper floor.But on the floor of such as carpet, because wool (or other fabric) resistance is higher, therefore, robot cleaner can not easily move forward or backward.Particularly, when robot cleaner is by making brush unit rotate a direction (moving forward direction) and perform clean operation, due to the rotation of brush unit on the direction moved forward, therefore, it is easy for moving forward.But movement is difficult backward.Move forward or backward to perform, its sense of rotation changes over forward or backward direction by driving wheel, but brush unit rotates up in the side of moving forward all the time.Therefore, move backward to perform, robot cleaner needs higher power, and if resistance is too large, then robot cleaner can not move backward.
Summary of the invention
Therefore, an aspect of of the present present invention provides a kind of travelling performance with improvement, to make to perform reposefully forward on the floor of the such as carpet with high-drag and the robot cleaner of movement backward, and a kind of method controlling the movement of described robot cleaner.
Other aspect partly illustrates in the following description, and part presents from instructions is clear, or can by learning practice of the present invention.
Above-mentioned and/or other side realizes by providing a kind of robot cleaner, and described robot cleaner comprises: main body; Multiple driving wheel, described multiple driving wheel is used for mobile agent; Brush unit, described brush unit rotates with the dust on cleaning floor; And control module, when main body moves backward, control module pilot brush subelement rotates up in the side identical with the sense of rotation of driving wheel.
Robot cleaner can also comprise brush motor and drive motor, described brush motor rotates up in normal direction or contrary side for making brush unit, described drive motor rotates up in normal direction or contrary side for making driving wheel, and control module can control driving wheel and brush unit rotates in a same direction.
Control module can be carried out moving forward of control subject by the sense of rotation of the change change brush unit of the sense of rotation according to driving wheel and be moved backward.
Control module can control brush motor, makes: when the sense of rotation of brush unit starts starting stage of changing, brush motor rotated with relatively high speed in the starting stage; And when the sense of rotation of brush unit changes, the rotational speed of brush motor is reduced relatively.
Above-mentioned and/or other side is realized by the method for the movement providing a kind of control clearer, and described robot cleaner comprises: main body; Multiple driving wheel, described multiple driving wheel is used for mobile agent; Brush unit, described brush unit rotates with the dust on cleaning floor; And control module, when main body moves backward, described control module rotates up in the side identical with the sense of rotation of driving wheel according to the state pilot brush subelement on floor.
Robot cleaner can also comprise floor surface sensor, and described floor surface sensor is for sensing the state on floor, and if floor has high-drag, control module can rotate up in the side identical with the sense of rotation of driving wheel by pilot brush subelement.
Robot cleaner can also comprise driving sensor, described driving sensor is for sensing the movement of driving wheel, and if driving sensor does not sense the movement of driving wheel, control module can rotate up in the side identical with the sense of rotation of driving wheel by pilot brush subelement.
Robot cleaner can also comprise drive motor and load transducer, described drive motor rotates up in normal direction or contrary side for making driving wheel, described load transducer is applied to the load of drive motor for sensing, and if load is greater than reference value, control module can rotate up in the side identical with the sense of rotation of driving wheel by pilot brush subelement.
Above-mentioned and/or other side is realized by the method for the movement providing a kind of control clearer, said method comprising the steps of: the sense of rotation detecting driving wheel, and described driving wheel makes robot cleaner move; According to the sense of rotation of the sense of rotation determination brush unit of driving wheel; And robot cleaner is moved forward or backward, described in the step of robot cleaner movement is forward or backward comprised: according to the sense of rotation of determined brush unit, driving wheel and brush unit are rotated in a same direction.
In the step of the sense of rotation of the sense of rotation determination brush unit according to driving wheel, the sense of rotation of brush unit can be changed over the direction when driving wheel allows robot cleaner to move forward reposefully when the side of moving forward of robot cleaner rotates up.
In the step of the sense of rotation of the sense of rotation determination brush unit according to driving wheel, the sense of rotation of brush unit can be changed over the direction allowing robot cleaner movement backward reposefully when driving wheel rotates on the moving direction backward of robot cleaner.
Described method can also comprise the step of the resistance on sensing floor, and in the step of the sense of rotation of the sense of rotation determination brush unit according to driving wheel, if floor has high moving resistance, then the sense of rotation of brush unit can be changed over the direction identical with the sense of rotation of driving wheel.
Described method can also comprise the step of the movement of sensing driving wheel, and in the step of the sense of rotation of the sense of rotation determination brush unit according to driving wheel, if do not sense the movement of driving wheel, then the sense of rotation of brush unit can be changed over the direction identical with the sense of rotation of driving wheel.
Described method can also comprise the step that sensing is applied to the load of driving wheel, and in the step of the sense of rotation of the sense of rotation determination brush unit according to driving wheel, if load is greater than reference value, then the sense of rotation of brush unit can be changed over the direction identical with the sense of rotation of driving wheel.
Described method can also comprise the following steps: pilot brush subelement, the sense of rotation when brush unit is made to start the starting stage changed, brush unit rotates with relatively high speed, and when the sense of rotation of brush unit changes, relatively reduces the rotational speed of brush motor.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, following being described clearly from embodiment presents and is more easy to be familiar with by these and/or other side, wherein:
Fig. 1 is the top perspective of the robot cleaner according to an embodiment;
Fig. 2 is the bottom perspective view of the robot cleaner according to embodiment;
Fig. 3 is the backplan of the robot cleaner according to embodiment;
Fig. 4 is the skeleton view of the brush unit according to embodiment;
Fig. 5 is the controll block figure of the robot cleaner according to embodiment;
Fig. 6 is the process flow diagram of display according to the method for the movement of the control clearer of embodiment;
Fig. 7 is the explanatory view of display sense of rotation of driving wheel and brush unit when moving forward according to the robot cleaner of embodiment; With
Fig. 8 is the explanatory view of display sense of rotation of driving wheel and brush unit when moving backward according to the robot cleaner of embodiment.
Claims (4)
1. a robot cleaner, comprising:
Main body;
Multiple driving wheel, described multiple driving wheel is used for mobile described main body;
Brush unit, described brush unit rotates with the dust on cleaning floor;
Floor surface sensor, described floor surface sensor is for sensing the state on floor, and the state on described floor comprises resistance; With
Control module, when described main body moves forward, described control module controls described brush unit and rotates in a forward direction,
It is characterized in that, when described main body moves backward and described floor has high-drag, described control module controls described brush unit and rotates in the opposite direction.
2. robot cleaner according to claim 1, also comprises:
Brush motor, described brush motor rotates up in direction forward or contrary side for making described brush unit; With
Multiple drive motor, described multiple drive motor rotates up in described direction forward or contrary side for making described driving wheel,
Wherein, described control module controls described driving wheel and described brush unit rotates in a same direction.
3. robot cleaner according to claim 2, wherein, the sense of rotation that described control module changes described brush unit by the change of the sense of rotation according to described driving wheel controls moving forward of described main body and moves backward.
4. robot cleaner according to claim 3, wherein, described control module controls described brush motor, makes:
When the sense of rotation of described brush unit starts to change, described brush motor rotated with relatively high speed in the starting stage; And
When the sense of rotation of described brush unit changes, reduce the rotational speed of described brush motor.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US18652909P | 2009-06-12 | 2009-06-12 | |
| US61/186,529 | 2009-06-12 | ||
| KR1020090079131A KR101397103B1 (en) | 2009-06-12 | 2009-08-26 | Robot cleaner and method for controlling travel the same |
| KR10-2009-0079131 | 2009-08-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101923350A CN101923350A (en) | 2010-12-22 |
| CN101923350B true CN101923350B (en) | 2015-09-16 |
Family
ID=42646316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010202445.XA Expired - Fee Related CN101923350B (en) | 2009-06-12 | 2010-06-09 | The method of the movement of robot cleaner and this robot cleaner of control |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20100313910A1 (en) |
| EP (1) | EP2260750A3 (en) |
| CN (1) | CN101923350B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101923350A (en) | 2010-12-22 |
| EP2260750A2 (en) | 2010-12-15 |
| EP2260750A3 (en) | 2014-04-23 |
| US20100313910A1 (en) | 2010-12-16 |
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